Modeling self-organized emergence of perspective in/variant mirror neurons in a robotic system

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F19%3A00337693" target="_blank" >RIV/68407700:21730/19:00337693 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/DEVLRN.2019.8850692" target="_blank" >https://doi.org/10.1109/DEVLRN.2019.8850692</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/DEVLRN.2019.8850692" target="_blank" >10.1109/DEVLRN.2019.8850692</a>

Result language
angličtina
Original language name
Modeling self-organized emergence of perspective in/variant mirror neurons in a robotic system
Original language description
A major role attributed to mirror neurons, according to the direct matching hypothesis, is to mediate the link between an observed action and agent's own motor repertoire, to provide understanding STS from inside. The mirror neurons gave rise to various models but one of the issues not tackled by them is the perspective in/variance. Neurons in STS visual areas can be either perspective selective or invariant and the same variability was later also discovered in premotor F5 area in macaques, showing the existence of different types of mirror neurons regarding their perspective selectivity. We model this as an emergent phenomenom using the data from the simulated iCub robot, that learns to reach for objects with three types of grasp. The neural network model learns in two phases. First, the motor (F5) and visual (STS) modules are trained in parallel to self-organize modal maps using the corresponding data sequences from the self-perspective. Then, F5 area is retrained using the output from the pretrained STS module, to acquire the mirroring property. Using the optimized model hyperparameters found by grid search, we show that our model fits very well empirical observations, by showing how neurons with various degrees of perspective selectivity emerge in the F5 map.
Czech name
—
Czech description
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Project
<a href="/en/project/VI20172019082" target="_blank" >VI20172019082: Smart Camera - New Generation Monitoring Centre</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2019 Joint IEEE 9th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)
ISBN
978-1-5386-8128-2
ISSN
2161-9484
e-ISSN
2161-9484
Number of pages
6
Pages from-to
278-283
Publisher name
IEEE
Place of publication
Anchorage, Alaska
Event location
Oslo
Event date
Aug 19, 2019
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000564518200042

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